CN112097690B - Transparent object reconstruction method and system based on multi-wavelength ray tracing - Google Patents

Transparent object reconstruction method and system based on multi-wavelength ray tracing Download PDF

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CN112097690B
CN112097690B CN202010980597.6A CN202010980597A CN112097690B CN 112097690 B CN112097690 B CN 112097690B CN 202010980597 A CN202010980597 A CN 202010980597A CN 112097690 B CN112097690 B CN 112097690B
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transparent object
display screen
light
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wavelength
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CN112097690A (en
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吴庆阳
卢晓婷
黄浩涛
张志俊
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Shenzhen Technology University
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G06T17/20—Finite element generation, e.g. wire-frame surface description, tesselation
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
    • G09G3/00—Control arrangements or circuits, of interest only in connection with visual indicators other than cathode-ray tubes
    • G09G3/001—Control arrangements or circuits, of interest only in connection with visual indicators other than cathode-ray tubes using specific devices not provided for in groups G09G3/02 - G09G3/36, e.g. using an intermediate record carrier such as a film slide; Projection systems; Display of non-alphanumerical information, solely or in combination with alphanumerical information, e.g. digital display on projected diapositive as background
    • G09G3/003—Control arrangements or circuits, of interest only in connection with visual indicators other than cathode-ray tubes using specific devices not provided for in groups G09G3/02 - G09G3/36, e.g. using an intermediate record carrier such as a film slide; Projection systems; Display of non-alphanumerical information, solely or in combination with alphanumerical information, e.g. digital display on projected diapositive as background to produce spatial visual effects
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
    • G01B11/2513—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object with several lines being projected in more than one direction, e.g. grids, patterns
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
    • G09G3/00—Control arrangements or circuits, of interest only in connection with visual indicators other than cathode-ray tubes
    • G09G3/006—Electronic inspection or testing of displays and display drivers, e.g. of LED or LCD displays
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
    • G09G3/00—Control arrangements or circuits, of interest only in connection with visual indicators other than cathode-ray tubes
    • G09G3/20—Control arrangements or circuits, of interest only in connection with visual indicators other than cathode-ray tubes for presentation of an assembly of a number of characters, e.g. a page, by composing the assembly by combination of individual elements arranged in a matrix no fixed position being assigned to or needed to be assigned to the individual characters or partial characters
    • G09G3/34—Control arrangements or circuits, of interest only in connection with visual indicators other than cathode-ray tubes for presentation of an assembly of a number of characters, e.g. a page, by composing the assembly by combination of individual elements arranged in a matrix no fixed position being assigned to or needed to be assigned to the individual characters or partial characters by control of light from an independent source
    • G09G3/3406—Control of illumination source
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2200/00—Indexing scheme for image data processing or generation, in general
    • G06T2200/08—Indexing scheme for image data processing or generation, in general involving all processing steps from image acquisition to 3D model generation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2210/00—Indexing scheme for image generation or computer graphics
    • G06T2210/56—Particle system, point based geometry or rendering
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
    • G09G2360/00—Aspects of the architecture of display systems
    • G09G2360/14—Detecting light within display terminals, e.g. using a single or a plurality of photosensors
    • G09G2360/145—Detecting light within display terminals, e.g. using a single or a plurality of photosensors the light originating from the display screen
    • G09G2360/147—Detecting light within display terminals, e.g. using a single or a plurality of photosensors the light originating from the display screen the originated light output being determined for each pixel

Abstract

The invention provides a method and a system for reconstructing a transparent object based on multi-wavelength ray tracing, wherein the method comprises the steps of calculating by utilizing internal parameters calibrated by a camera to obtain a reverse ray equation of one pixel point of the camera; placing a transparent object on the display screen, and recording position information of light rays on the display screen, wherein the backlight light source emits light rays with two or more different wavelengths to the display screen; translating the display screen along the direction vertical to the display screen, and calculating a linear equation of the light rays with different wavelengths recorded by the pixel points from the lower surface of the transparent object to the display screen; the three-dimensional information of one point on the upper surface and multiple points on the lower surface of the transparent object is uniquely determined by reversely tracking the refraction light rays with different wavelengths in the transparent object through the pixel points and combining the light ray equation; and repeating all the steps, and calculating the three-dimensional coordinates of other points on the surface of the transparent object according to the imaging light path information of different pixel points of the camera, thereby realizing the high-precision and high-robustness three-dimensional reconstruction of the transparent object.

Description

Transparent object reconstruction method and system based on multi-wavelength ray tracing
Technical Field
The invention relates to the technical field of three-dimensional measurement, in particular to a transparent object reconstruction method and system based on multi-wavelength ray tracing.
Background
For reconstruction of transparent objects, common systems for fringe projection profilometry are also camera-screen systems. Despite the great interest in object digitization, obtaining digital models of transparent or highlight objects remains a significant challenge. The complexity of the reconstruction problem is increased because the refracting and specular surfaces change straight rays into piecewise linear segments. The traditional methods include a numerical method and a multi-view method which are combined with normal consistency, but the precision and the robustness are not high.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a transparent object reconstruction method and system based on multi-wavelength ray tracing, and aims to solve the problems of high-precision and high-robustness reconstruction of a transparent object.
In order to solve the technical problems, the invention adopts the following technical scheme:
the first aspect provides a transparent object reconstruction method based on multi-wavelength ray tracing, which comprises the following steps:
obtaining a reverse ray equation of one pixel point of the camera by utilizing internal reference calculation calibrated by the camera, wherein the reverse ray equation is called a first section ray equation;
placing a transparent object on a display screen, wherein a backlight light source emits light rays with two or more different wavelengths to the display screen, and the pixel points respectively record position information of the light rays with the two or more different wavelengths on the display screen;
translating the display screen along the direction vertical to the display screen, and calculating a linear equation of the light rays with different wavelengths recorded by the pixel points from the lower surface of the transparent object to the display screen, wherein the linear equation is called as a third section light ray equation;
recording the refraction light of the pixel points reversely tracking light rays with different wavelengths in the transparent object as a second section of light ray equation, wherein the constraint condition that the pixel points intersect a unique point on the upper surface of the transparent object and the track of the pixel points intersecting the lower surface of the transparent object meet the constraint condition of a curve polynomial, and uniquely determining the three-dimensional information of one point on the upper surface and multiple points on the lower surface of the transparent object by combining the first section of light ray equation and the third section of light ray equation;
and repeating all the steps, and calculating the three-dimensional coordinates of other points on the surface of the transparent object according to the imaging light path information of different pixel points of the camera.
A second aspect provides a system for reconstructing a transparent object based on multi-wavelength ray tracing, which can implement the method for reconstructing a transparent object based on multi-wavelength ray tracing as described above, and includes:
a backlight illumination source for generating light of different wavelengths;
the display screen is used for displaying the coding stripes and marking the space;
and the camera is used for acquiring the position information of the multi-wavelength light emitted by the display screen.
The invention has the beneficial effects that:
the method comprises the steps that a camera records initial position information of an imaging light path, then a transparent object is placed, a backlight light source emits multi-wavelength light to illuminate a display screen, the camera collects multi-wavelength light position information modulated by the surface height of the transparent object and the slope of a surface curved surface after the multi-wavelength light passes through the surface of the transparent object, the multi-wavelength light is derived based on the mathematical theory of a multi-wavelength light tracing model, and the two mentioned constraint conditions are referred to, so that the three-dimensional coordinates of the surface of the transparent object are calculated, the three-dimensional coordinates of the surface point of the transparent object can be uniquely determined through the reconstruction mode, and therefore the three-dimensional reconstruction of the transparent object with high precision and high robustness is achieved.
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The detailed structure of the invention is described in detail below with reference to the accompanying drawings
Fig. 1 is a block flow diagram of a method for reconstructing a transparent object based on multi-wavelength ray tracing according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a transparent object reconstruction system based on multi-wavelength ray tracing according to an embodiment of the present invention.
Detailed Description
In order to explain technical contents, structural features, and objects and effects of the present invention in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments.
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
Referring to fig. 1, fig. 1 is a block flow diagram of a method for reconstructing a transparent object based on multi-wavelength ray tracing according to an embodiment of the present invention. As shown in fig. 1, a method for reconstructing a transparent object based on multi-wavelength ray tracing includes:
and S101, obtaining a reverse ray equation of one pixel point of the camera by utilizing internal reference calculation calibrated by the camera, wherein the reverse ray equation is called a first-stage ray equation.
Specifically, the pixel points are pixel points imaged by a camera, and the first segment of ray equation is recorded as h (x).
And S102, placing a transparent object on the display screen, wherein the backlight light source emits light rays with two or more different wavelengths to the display screen, and the pixel points respectively record the position information of the light rays with the two or more different wavelengths on the display screen.
Specifically, taking two different wavelengths of light as an example, the recorded position information is respectively recorded as
Figure BDA0002687369180000031
And
Figure BDA0002687369180000032
it should be noted that the number of light beams with different wavelengths is related to the complexity of the surface shape of the transparent object, and a simple plane only needs light beams with two wavelengths as the more complex the surface shape needs, the larger the number of light beams with different wavelengths.
And S103, translating the display screen along the direction vertical to the display screen, and calculating a linear equation of the light rays with different wavelengths recorded by the pixel points from the lower surface of the transparent object to the display screen, wherein the linear equation is called as a third section light ray equation.
By translating the positions of the two different wavelength light rays on the display screen
Figure BDA0002687369180000033
And
Figure BDA0002687369180000034
calculating a third section of light equation f corresponding to the two different wavelengths of light respectively1(x) And f2(x)。
And step S104, recording the refraction light of the pixel points reversely tracking the light rays with different wavelengths in the transparent object as a second section of light ray equation, and uniquely determining the three-dimensional information of one point on the upper surface and a plurality of points on the lower surface of the transparent object by combining the constraint condition that the point intersects with the unique point on the upper surface of the transparent object and the track intersects with the lower surface of the transparent object to meet the constraint condition of a curve polynomial.
In particular, assume f1(x)，f2(x) The high-order curve polynomial L with two unknown coefficients is satisfied at two points intersected with the lower surface of the transparent object(a,b)(x) The coordinates of the intersection point of the second-stage ray equation and the third-stage ray equation can be expressed by a high-order curve polynomial L(a,b)(x) And the third section of the light equation f1(x)，f2(x) Respectively obtaining the components in a simultaneous manner; the slope of the second ray equation can be determined by the refractive index n of the transparent object of the rays with different wavelengths1And measuring the refractive index n of the ambient medium2And the equation of light f1(x)，f2(x) Respectively with a high-order curve polynomial L(a,b)(x) The differential equation at the intersection point can be obtained by calculation, and the calculated coordinates of the intersection point of the second section of ray equation and the third section of ray equation are substituted to obtain a second section of ray equation s corresponding to two different wavelength rays by calculation1(x) And s2(x) And then the second section of ray equation s is utilized1(x)，s2(x) And calculating unknown parameters a and b by using a simultaneous equation of the constraint condition that the upper surface of the transparent object and the first section of ray equation intersect at one point, thereby calculating and obtaining three-dimensional information of one point on the upper surface and multiple points on the lower surface of the transparent object.
And S105, repeating all the steps, and calculating the three-dimensional coordinates of other points on the surface of the transparent object according to the imaging light path information of different pixel points of the camera.
The invention has the beneficial effects that:
the method comprises the steps that a camera records initial position information of an imaging light path, then a transparent object is placed, a backlight light source emits multi-wavelength light to illuminate a display screen, the camera collects multi-wavelength light position information modulated by the surface height of the transparent object and the slope of a surface curved surface after the multi-wavelength light passes through the surface of the transparent object, the multi-wavelength light is derived based on the mathematical theory of a multi-wavelength light tracing model, and the two mentioned constraint conditions are referred to, so that the three-dimensional coordinates of the surface of the transparent object are calculated, the three-dimensional coordinates of the surface point of the transparent object can be uniquely determined through the reconstruction mode, and therefore the three-dimensional reconstruction of the transparent object with high precision and high robustness is achieved.
The embodiment of the invention also provides a possible implementation mode, and the method for reconstructing the transparent object based on the multi-wavelength ray tracing comprises the following steps:
step S201, obtaining a reverse ray equation of one pixel point of the camera by utilizing internal reference calculation calibrated by the camera, and the reverse ray equation is called as a first section ray equation.
Specifically, the pixel points are pixel points imaged by a camera, and the first segment of ray equation is recorded as h (x).
Step S202, a transparent object is placed on the display screen, the backlight light source emits four light rays with different wavelengths to the display screen, and the pixel points respectively record position information of the four light rays with different wavelengths on the display screen.
Specifically, the recorded position information is respectively noted as
Figure BDA0002687369180000041
And
Figure BDA0002687369180000042
step S203, translating the display screen along the direction vertical to the display screen, and calculating a linear equation of the light rays with different wavelengths recorded by the pixel points from the lower surface of the transparent object to the display screen, wherein the linear equation is called as a third section light ray equation.
By translating the positions of the two different wavelength light rays on the display screen
Figure BDA0002687369180000043
And
Figure BDA0002687369180000044
calculating a third section of light equation f corresponding to the four different wavelengths of light respectively1(x)，f2(x)，f3(x) And f4(x)。
Step S204, recording the refraction light of the pixel points reversely tracking the light rays with different wavelengths in the transparent object as a second section of light ray equation, and uniquely determining the three-dimensional information of one point on the upper surface and a plurality of points on the lower surface of the transparent object by combining the constraint condition that the constraint condition intersects with the unique point on the upper surface of the transparent object and the constraint condition that the constraint condition intersects with the lower surface of the transparent object and the track intersects with the lower surface of the transparent object.
In particular, assume f1(x)，f2(x)，f3(x)，f4(x) The high-order curve polynomial L with four unknown coefficients is satisfied by intersecting the lower surface of the transparent object at four points(a,b,c,d)(x) The coordinates of the intersection point of the second-stage ray equation and the third-stage ray equation can be expressed by a high-order curve polynomial L(a,b,c,d)(x) And the third section of the light equation f1(x)，f2(x)，f3(x)，f4(x) Respectively obtaining the components in a simultaneous manner; the slope of the second ray equation can be determined by the refractive index n of the transparent object of the rays with different wavelengths1And measuring the refractive index n of the ambient medium2And the equation of light f1(x)，f2(x)，f3(x)，f4(x) Respectively with a high-order curve polynomial L(a,b,c,d)(x) The differential equation at the intersection point can be obtained by calculation, and the calculated coordinates of the intersection point of the second section of ray equation and the third section of ray equation are substituted to obtain a second section of ray equation s corresponding to four rays with different wavelengths by calculation1(x)，s2(x)，s3(x) And s4(x) And then the second section of ray equation s is utilized1(x)，s2(x)，s3(x) And s4(x) And calculating unknown parameters a, b, c and d by using a simultaneous equation of the constraint condition that the upper surface of the transparent object and the first section of ray equation intersect at one point, thereby calculating and obtaining three-dimensional information of one point on the upper surface and multiple points on the lower surface of the transparent object.
And S205, repeating all the steps, and calculating the three-dimensional coordinates of other points on the surface of the transparent object according to the imaging light path information of different pixel points of the camera.
Referring to fig. 2, fig. 2 is a schematic structural diagram of a system for reconstructing a transparent object based on multi-wavelength ray tracing according to an embodiment of the present invention. The second aspect of the present invention provides a system for reconstructing a transparent object based on multi-wavelength ray tracing, which can implement the method for reconstructing a transparent object based on multi-wavelength ray tracing as described above, and includes:
the backlight illumination source 100 is used to generate light of different wavelengths.
Specifically, the light rays with different wavelengths are two or more.
And the display screen 200 is used for displaying the coding stripes and marking the space.
A camera 300 for collecting position information of the multi-wavelength light emitted by the display screen, the position information being modulated by the intersecting sinusoidal stripes.
Wherein the display screen 200 is located between the backlight illumination source 100 and the camera 300.
Further, the multi-wavelength light is a multi-wavelength intersection coding stripe pattern.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (4)

1. A transparent object reconstruction method based on multi-wavelength ray tracing is characterized by comprising the following steps:
obtaining a reverse ray equation of one pixel point of the camera by utilizing internal reference calculation calibrated by the camera, wherein the reverse ray equation is called a first section ray equation;
placing a transparent object on a display screen, wherein a backlight light source emits light rays with two or more different wavelengths to the display screen, and the pixel points respectively record position information of the light rays with the two or more different wavelengths on the display screen; wherein the transparent object is a closed figure;
translating the display screen along the direction vertical to the display screen, and calculating a linear equation of the light rays with different wavelengths recorded by the pixel points from the lower surface of the transparent object to the display screen, wherein the linear equation is called as a third section light ray equation;
recording the refraction light of the pixel points reversely tracking light rays with different wavelengths in the transparent object as a second section of light ray equation, wherein the constraint condition that the pixel points intersect a unique point on the upper surface of the transparent object and the track of the pixel points intersecting the lower surface of the transparent object meet the constraint condition of a curve polynomial, and uniquely determining the three-dimensional information of one point on the upper surface and multiple points on the lower surface of the transparent object by combining the first section of light ray equation and the third section of light ray equation;
and repeating all the steps, and calculating the three-dimensional coordinates of other points on the surface of the transparent object according to the imaging light path information of different pixel points of the camera.
2. The method for reconstructing a transparent object based on multi-wavelength ray tracing as claimed in claim 1, wherein the display screen emits four kinds of rays with different wavelengths.
3. A multi-wavelength ray tracing-based transparent object reconstruction system, which can implement the multi-wavelength ray tracing-based transparent object reconstruction method according to claim 1 or 2, comprising:
a backlight illumination source for generating light of different wavelengths;
the display screen is used for displaying the coding stripes and marking the space;
and the camera is used for acquiring the position information of the multi-wavelength light emitted by the display screen.
4. The multi-wavelength ray tracing-based transparent object reconstruction system of claim 3 wherein the multi-wavelength ray is a multi-wavelength cross-code fringe pattern.
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